// COLMAP - Structure-from-Motion and Multi-View Stereo.
// Copyright (C) 2016  Johannes L. Schoenberger <jsch at inf.ethz.ch>
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef COLMAP_SRC_BASE_SIMILARITY_TRANSFORM_H_
#define COLMAP_SRC_BASE_SIMILARITY_TRANSFORM_H_

#include <vector>

#include <Eigen/Core>
#include <Eigen/Geometry>

#include "util/types.h"

namespace RVG
{

// 3D similarity transformation with 7 degrees of freedom.
class SimilarityTransform3
{
public:
    SimilarityTransform3();

    SimilarityTransform3(const Eigen::Matrix3x4d& matrix);

    SimilarityTransform3(
        const Eigen::Transform<double, 3, Eigen::Affine>& transform);

    SimilarityTransform3(const double scale, const Eigen::Vector4d& qvec,
                         const Eigen::Vector3d& tvec);

    void Estimate(const std::vector<Eigen::Vector3d>& src,
                  const std::vector<Eigen::Vector3d>& dst);

    SimilarityTransform3 Inverse() const;

    void TransformPoint(Eigen::Vector3d* xyz) const;
    void TransformPose(Eigen::Vector4d* qvec, Eigen::Vector3d* tvec) const;

    Eigen::Matrix4d Matrix() const;
    double Scale() const;
    Eigen::Vector4d Rotation() const;
    Eigen::Vector3d Translation() const;

private:
    Eigen::Transform<double, 3, Eigen::Affine> transform_;
};

}  // namespace colmap

#endif  // COLMAP_SRC_BASE_SIMILARITY_TRANSFORM_H_
